gsed ':a;s/\B[0-9]\{3\}\>/,&/;ta' # GNU sed
sed -e :a -e 's/\(.*[0-9]\)\([0-9]\{3\}\)/\1,\2/;ta' # other seds
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===== Add commas to numbers with decimal points and minus signs =====
gsed ':a;s/\(^\|[^0-9.]\)\([0-9]\+\)\([0-9]\{3\}\)/\1\2,\3/g;ta'